1、内容简介
略
565-可以交流、咨询、答疑
2、内容说明
略
3、仿真分析
clear
clc
close all
warning('off')
load x1.mat
x = x1;
kp1 = x(1);
kp2 = x(4);
kp3 = x(7);
ki1 = x(2);
ki2 = x(5);
ki3 = x(8);
kd1 = x(3);
kd2 = x(6);
kd3 = x(9);
ms=240; %车身质量(kg)
mu=36; %悬挂质量(kg)
ks=16000; %非线性悬架弹性系数(N/m)
ku=160000; %轮胎弹性系数(N/m)
c=1650; %悬架阻尼比
p=0.1;
L=100;
Gq=256*10^(-6);
nq=0.011;
n0=0.1;
u=10;
t=L/u;
t1=1./(u.*n0)./20; %采样周期
sim('beidongzhudong2.mdl');
sim('beidongzhudong3.mdl');
%% 合并在一起的图
figure
plot(tt1,jsd1,'b'),hold on
plot(tt3,jsd3,'--r')
grid on
xlabel('Time {\itt}/s','FontSize',12,'FontName','Times New Roman')
ylabel('Body Acceleration {\ita}/(m/s^2)','FontSize',12,'FontName','Times New Roman')
h=legend({'Passive','PID Active'},'FontSize',12,'FontName','Times New Roman');
set(h,'Box','off');
figure
plot(tt1,nd1,'b'),hold on
plot(tt3,nd3,'--r')
grid on
xlabel('Time {\itt}/s','FontSize',12,'FontName','Times New Roman')
ylabel('Suspension Disturbance {\it(z_s-z_u)}/(m)','FontSize',12,'FontName','Times New Roman')
h=legend({'Passive','PID Active'},'FontSize',12,'FontName','Times New Roman');
set(h,'Box','off');
figure
plot(tt1,zh1,'b'),hold on
plot(tt3,zh3,'--r')
grid on
xlabel('Time {\itt}/s','FontSize',12,'FontName','Times New Roman')
ylabel('Tire Movement {\it(z_u-z_r)}/(m)','FontSize',12,'FontName','Times New Roman')
h=legend({'Passive','PID Active'},'FontSize',12,'FontName','Times New Roman');
set(h,'Box','off');
%% 分开的图
figure
plot(tt1,jsd1,'b')
grid on
xlabel('Time {\itt}/s','FontSize',12,'FontName','Times New Roman')
ylabel('Body Acceleration {\ita}/(m/s^2)','FontSize',12,'FontName','Times New Roman')
title('Passive','FontSize',12,'FontName','Times New Roman')
figure
plot(tt3,jsd3,'--r')
grid on
xlabel('Time {\itt}/s','FontSize',12,'FontName','Times New Roman')
ylabel('Body Acceleration {\ita}/(m/s^2)','FontSize',12,'FontName','Times New Roman')
title('PID Active','FontSize',12,'FontName','Times New Roman')
figure
plot(tt1,nd1,'b')
grid on
xlabel('Time {\itt}/s','FontSize',12,'FontName','Times New Roman')
ylabel('Suspension Disturbance {\it(z_s-z_u)}/(m)','FontSize',12,'FontName','Times New Roman')
title('Passive','FontSize',12,'FontName','Times New Roman')
figure
plot(tt3,nd3,'--r')
grid on
xlabel('Time {\itt}/s','FontSize',12,'FontName','Times New Roman')
ylabel('Suspension Disturbance {\it(z_s-z_u)}/(m)','FontSize',12,'FontName','Times New Roman')
title('PID Active','FontSize',12,'FontName','Times New Roman')
figure
plot(tt1,zh1,'b')
grid on
xlabel('Time {\itt}/s','FontSize',12,'FontName','Times New Roman')
ylabel('Tire Movement {\it(z_u-z_r)}/(m)','FontSize',12,'FontName','Times New Roman')
title('Passive','FontSize',12,'FontName','Times New Roman')
figure
plot(tt3,zh3,'--r')
grid on
xlabel('Time {\itt}/s','FontSize',12,'FontName','Times New Roman')
ylabel('Tire Movement {\it(z_u-z_r)}/(m)','FontSize',12,'FontName','Times New Roman')
title('PID Active','FontSize',12,'FontName','Times New Roman')
4、参考论文
略